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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "aloha",
"total_episodes": 1,
"total_frames": 100,
"total_tasks": 99,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:1"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": null,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"state"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"action"
]
},
"train_action": {
"dtype": "int64",
"shape": [
1,
1
],
"names": [
"train_action_dim0",
"train_action_dim1"
]
},
"subtask": {
"dtype": "string",
"shape": [
1
],
"names": [
"subtask"
]
},
"cam_high_mask": {
"dtype": "int64",
"shape": [
1,
1
],
"names": [
"cam_high_mask_dim0",
"cam_high_mask_dim1"
]
},
"cam_low_mask": {
"dtype": "int64",
"shape": [
1,
1
],
"names": [
"cam_low_mask_dim0",
"cam_low_mask_dim1"
]
},
"cam_left_wrist_mask": {
"dtype": "int64",
"shape": [
1,
1
],
"names": [
"cam_left_wrist_mask_dim0",
"cam_left_wrist_mask_dim1"
]
},
"cam_right_wrist_mask": {
"dtype": "int64",
"shape": [
1,
1
],
"names": [
"cam_right_wrist_mask_dim0",
"cam_right_wrist_mask_dim1"
]
},
"observation.images.cam_high": {
"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.cam_low": {
"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.cam_left_wrist": {
"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.cam_right_wrist": {
"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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